clean up rendering resources (#324)

Signed-off-by: Ian Chen <[email protected]>

src/RenderingSensor.cc

@@ -47,7 +47,7 @@ RenderingSensor::RenderingSensor() :
 //////////////////////////////////////////////////
 RenderingSensor::~RenderingSensor()
 {
-  if (!this->dataPtr->scene)
+  if (!this->dataPtr->scene || !this->dataPtr->scene->IsInitialized())
     return;
   for (auto &s : this->dataPtr->sensors)
   {

test/integration/boundingbox_camera.cc

@@ -344,7 +344,11 @@ void BoundingBoxCameraSensorTest::BoxesWithBuiltinSDF(
 
   g_mutex.unlock();
 
+  // Clean up rendering ptrs
+  camera.reset();
+
   // Clean up
+  mgr.Remove(sensor->Id());
   engine->DestroyScene(scene);
   rendering::unloadEngine(engine->Name());
 }
@@ -465,7 +469,11 @@ void BoundingBoxCameraSensorTest::Boxes3DWithBuiltinSDF(
 
   g_mutex.unlock();
 
+  // Clean up rendering ptrs
+  camera.reset();
+
   // Clean up
+  mgr.Remove(sensor->Id());
   engine->DestroyScene(scene);
   rendering::unloadEngine(engine->Name());
 }

test/integration/depth_camera.cc

@@ -222,6 +222,7 @@ void DepthCameraSensorTest::ImagesWithBuiltinSDF(
   box->SetLocalRotation(0, 0, 0);
   box->SetLocalScale(unitBoxSize, unitBoxSize, unitBoxSize);
   box->SetMaterial(blue);
+  scene->DestroyMaterial(blue);
   root->AddChild(box);
 
   // do the test
@@ -336,11 +337,9 @@ void DepthCameraSensorTest::ImagesWithBuiltinSDF(
   EXPECT_EQ(9, infoMsg.rectification_matrix().size());
 
   // Check that for a box really close it returns -inf
-  root->RemoveChild(box);
   gz::math::Vector3d boxPositionNear(
       unitBoxSize * 0.5 + near_ * 0.5, 0.0, 0.0);
   box->SetLocalPosition(boxPositionNear);
-  root->AddChild(box);
 
   mgr.RunOnce(std::chrono::steady_clock::duration::zero(), true);
   for (int sleep = 0;
@@ -372,11 +371,9 @@ void DepthCameraSensorTest::ImagesWithBuiltinSDF(
   g_mutex.unlock();
 
   // Check that for a box really far it returns inf
-  root->RemoveChild(box);
   gz::math::Vector3d boxPositionFar(
       unitBoxSize * 0.5 + far_ * 1.5, 0.0, 0.0);
   box->SetLocalPosition(boxPositionFar);
-  root->AddChild(box);
 
   mgr.RunOnce(std::chrono::steady_clock::duration::zero(), true);
   for (int sleep = 0;
@@ -408,11 +405,9 @@ void DepthCameraSensorTest::ImagesWithBuiltinSDF(
 
 
   // Check that the depth values for a box do not warp.
-  root->RemoveChild(box);
   gz::math::Vector3d boxPositionFillFrame(
       unitBoxSize * 0.5 + 0.2, 0.0, 0.0);
   box->SetLocalPosition(boxPositionFillFrame);
-  root->AddChild(box);
 
   mgr.RunOnce(std::chrono::steady_clock::duration::zero(), true);
   for (int sleep = 0;
@@ -497,7 +492,12 @@ void DepthCameraSensorTest::ImagesWithBuiltinSDF(
   g_mutex.unlock();
   g_pcMutex.unlock();
 
+  // clean up rendering ptrs
+  blue.reset();
+  box.reset();
+
   // Clean up
+  mgr.Remove(depthSensor->Id());
   engine->DestroyScene(scene);
   gz::rendering::unloadEngine(engine->Name());
 }

test/integration/gpu_lidar_sensor.cc

@@ -278,6 +278,7 @@ void GpuLidarSensorTest::CreateGpuLidar(const std::string &_renderEngine)
 
   // Clean up
   c.reset();
+  mgr.Remove(sensor->Id());
   engine->DestroyScene(scene);
   gz::rendering::unloadEngine(engine->Name());
 }
@@ -416,8 +417,11 @@ void GpuLidarSensorTest::DetectBox(const std::string &_renderEngine)
   EXPECT_FALSE(pointMsgs.back().is_dense());
   EXPECT_EQ(32u * horzSamples * vertSamples, pointMsgs.back().data().size());
 
+  // Clean up rendering ptrs
+  visualBox1.reset();
+
   // Clean up
-  //
+  mgr.Remove(sensor->Id());
   engine->DestroyScene(scene);
   gz::rendering::unloadEngine(engine->Name());
 }
@@ -573,7 +577,14 @@ void GpuLidarSensorTest::TestThreeBoxes(const std::string &_renderEngine)
   for (unsigned int i = 0; i < sensor1->RayCount(); ++i)
     EXPECT_DOUBLE_EQ(sensor2->Range(i), gz::math::INF_D);
 
+  // Clean up rendering ptrs
+  visualBox1.reset();
+  visualBox2.reset();
+  visualBox3.reset();
+
   // Clean up
+  mgr.Remove(sensor1->Id());
+  mgr.Remove(sensor2->Id());
   engine->DestroyScene(scene);
   gz::rendering::unloadEngine(engine->Name());
 }
@@ -693,7 +704,11 @@ void GpuLidarSensorTest::VerticalLidar(const std::string &_renderEngine)
     }
   }
 
+  // Clean up rendering ptrs
+  visualBox1.reset();
+
   // Clean up
+  mgr.Remove(sensor->Id());
   engine->DestroyScene(scene);
   gz::rendering::unloadEngine(engine->Name());
 }
@@ -819,8 +834,12 @@ void GpuLidarSensorTest::ManualUpdate(const std::string &_renderEngine)
   EXPECT_DOUBLE_EQ(sensor2->Range(last), gz::math::INF_D);
 #endif
 
+  // Clean up rendering ptrs
+  visualBox1.reset();
+
   // Clean up
-  //
+  mgr.Remove(sensor1->Id());
+  mgr.Remove(sensor2->Id());
   engine->DestroyScene(scene);
   gz::rendering::unloadEngine(engine->Name());
 }
@@ -859,7 +878,6 @@ void GpuLidarSensorTest::Topic(const std::string &_renderEngine)
   // Create a GpuLidarSensor
   gz::sensors::Manager mgr;
 
-
   // Default topic
   {
     const std::string topic;

test/integration/rgbd_camera.cc

@@ -242,6 +242,7 @@ void RgbdCameraSensorTest::ImagesWithBuiltinSDF(
   box->SetLocalRotation(0, 0, 0);
   box->SetLocalScale(unitBoxSize, unitBoxSize, unitBoxSize);
   box->SetMaterial(blue);
+  scene->DestroyMaterial(blue);
   root->AddChild(box);
 
   // do the test
@@ -529,11 +530,9 @@ void RgbdCameraSensorTest::ImagesWithBuiltinSDF(
   g_imgMutex.unlock();
 
   // Check that for a box really close it returns -inf
-  root->RemoveChild(box);
   math::Vector3d boxPositionNear(
       unitBoxSize * 0.5 + near_ * 0.5, 0.0, 0.0);
   box->SetLocalPosition(boxPositionNear);
-  root->AddChild(box);
 
   mgr.RunOnce(std::chrono::steady_clock::duration::zero(), true);
   for (int sleep = 0; sleep < 300 &&
@@ -635,11 +634,9 @@ void RgbdCameraSensorTest::ImagesWithBuiltinSDF(
   g_pcMutex.unlock();
 
   // Check that for a box really far it returns inf
-  root->RemoveChild(box);
   math::Vector3d boxPositionFar(
       unitBoxSize * 0.5 + far_ * 1.5, 0.0, 0.0);
   box->SetLocalPosition(boxPositionFar);
-  root->AddChild(box);
 
   mgr.RunOnce(std::chrono::steady_clock::duration::zero(), true);
   for (int sleep = 0; sleep < 300 &&
@@ -740,7 +737,12 @@ void RgbdCameraSensorTest::ImagesWithBuiltinSDF(
   g_imgMutex.unlock();
   g_pcMutex.unlock();
 
+  // Clean up rendering ptrs
+  box.reset();
+  blue.reset();
+
   // Clean up
+  mgr.Remove(rgbdSensor->Id());
   engine->DestroyScene(scene);
   rendering::unloadEngine(engine->Name());
 }

test/integration/segmentation_camera.cc

@@ -352,7 +352,11 @@ void SegmentationCameraSensorTest::ImagesWithBuiltinSDF(
     }
   }
 
+  // Clean up rendering ptrs
+  camera.reset();
+
   // Clean up
+  mgr.Remove(sensor->Id());
   engine->DestroyScene(scene);
   ignition::rendering::unloadEngine(engine->Name());
 }

test/integration/thermal_camera.cc

@@ -282,11 +282,9 @@ void ThermalCameraSensorTest::ImagesWithBuiltinSDF(
   EXPECT_EQ(9, infoMsg.rectification_matrix().size());
 
   // Check that for a box really close it returns box temperature
-  root->RemoveChild(box);
   gz::math::Vector3d boxPositionNear(
       unitBoxSize * 0.5 + near_ * 0.5, 0.0, 0.0);
   box->SetLocalPosition(boxPositionNear);
-  root->AddChild(box);
 
   mgr.RunOnce(std::chrono::steady_clock::duration::zero(), true);
   for (int sleep = 0;
@@ -316,11 +314,9 @@ void ThermalCameraSensorTest::ImagesWithBuiltinSDF(
   g_mutex.unlock();
 
   // Check that for a box really far it returns ambient temperature
-  root->RemoveChild(box);
   gz::math::Vector3d boxPositionFar(
       unitBoxSize * 0.5 + far_ * 1.5, 0.0, 0.0);
   box->SetLocalPosition(boxPositionFar);
-  root->AddChild(box);
 
   mgr.RunOnce(std::chrono::steady_clock::duration::zero(), true);
   for (int sleep = 0;
@@ -352,7 +348,11 @@ void ThermalCameraSensorTest::ImagesWithBuiltinSDF(
   delete [] g_thermalBuffer;
   g_thermalBuffer = nullptr;
 
+  // Clean up rendering ptrs
+  box.reset();
+
   // Clean up
+  mgr.Remove(thermalSensor->Id());
   engine->DestroyScene(scene);
   gz::rendering::unloadEngine(engine->Name());
 }
@@ -543,11 +543,9 @@ void ThermalCameraSensorTest::Images8BitWithBuiltinSDF(
   EXPECT_EQ(9, infoMsg.rectification_matrix().size());
 
   // Check that for a box really close it returns box temperature
-  root->RemoveChild(box);
   gz::math::Vector3d boxPositionNear(
       unitBoxSize * 0.5 + near_ * 0.5, 0.0, 0.0);
   box->SetLocalPosition(boxPositionNear);
-  root->AddChild(box);
 
   mgr.RunOnce(std::chrono::steady_clock::duration::zero(), true);
   for (int sleep = 0;
@@ -578,11 +576,9 @@ void ThermalCameraSensorTest::Images8BitWithBuiltinSDF(
   g_mutex.unlock();
 
   // Check that for a box really far it returns ambient temperature
-  root->RemoveChild(box);
   ignition::math::Vector3d boxPositionFar(
       unitBoxSize * 0.5 + far_ * 1.5, 0.0, 0.0);
   box->SetLocalPosition(boxPositionFar);
-  root->AddChild(box);
 
   mgr.RunOnce(std::chrono::steady_clock::duration::zero(), true);
   for (int sleep = 0;
@@ -614,7 +610,11 @@ void ThermalCameraSensorTest::Images8BitWithBuiltinSDF(
   delete [] g_thermalBuffer8Bit;
   g_thermalBuffer8Bit = nullptr;
 
+  // Clean up rendering ptrs
+  box.reset();
+
   // Clean up
+  mgr.Remove(thermalSensor->Id());
   engine->DestroyScene(scene);
   gz::rendering::unloadEngine(engine->Name());
 }